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<div class="header">
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<div class="title">octree.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_SEARCH_OCTREE_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_SEARCH_OCTREE_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_search.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>search</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>,</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;             <span class="keyword">typename</span> LeafTWrap = <a class="code" href="classpcl_1_1octree_1_1_octree_container_point_indices.html">pcl::octree::OctreeContainerPointIndices</a>,</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;             <span class="keyword">typename</span> BranchTWrap = <a class="code" href="classpcl_1_1octree_1_1_octree_container_empty.html">pcl::octree::OctreeContainerEmpty</a>,</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;             <span class="keyword">typename</span> OctreeT = <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt;LeafTWrap, BranchTWrap &gt;</a> &gt;</div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html">   69</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1search_1_1_octree.html">Octree</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Search</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="comment">// public typedefs</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;pcl::search::Octree&lt;PointT,LeafTWrap,BranchTWrap,OctreeT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const pcl::search::Octree&lt;PointT,LeafTWrap,BranchTWrap,OctreeT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; IndicesPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const std::vector&lt;int&gt; &gt; IndicesConstPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="comment">// Boost shared pointers</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;pcl::octree::OctreePointCloudSearch&lt;PointT, LeafTWrap, BranchTWrap&gt; &gt; OctreePointCloudSearchPtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const pcl::octree::OctreePointCloudSearch&lt;PointT, LeafTWrap, BranchTWrap&gt; &gt; OctreePointCloudSearchConstPtr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        OctreePointCloudSearchPtr tree_;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointT&gt;::sorted_results_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#a987892ca3624313b206b1f6dc5c9d0df">   95</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#a987892ca3624313b206b1f6dc5c9d0df">Octree</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> resolution)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          : <a class="code" href="classpcl_1_1search_1_1_search.html">Search</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (<span class="stringliteral">&quot;Octree&quot;</span>)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          , tree_ (new pcl::octree::OctreePointCloudSearch&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafTWrap, BranchTWrap&gt; (resolution))</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#a7ee64c6ec2beb64972b80d2d4914859a">  103</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#a7ee64c6ec2beb64972b80d2d4914859a">~Octree</a> ()</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#a19e4db5d478f4aa22501849202d832ac">  111</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#a19e4db5d478f4aa22501849202d832ac">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          tree_-&gt;deleteTree ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          tree_-&gt;setInputCloud (cloud);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          tree_-&gt;addPointsFromInputCloud ();</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          input_ = cloud;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#a27496a56ce98da017a30fa402d48ff17">  124</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#a27496a56ce98da017a30fa402d48ff17">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, <span class="keyword">const</span> IndicesConstPtr&amp; indices)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          tree_-&gt;deleteTree ();</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          tree_-&gt;setInputCloud (cloud, indices);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          tree_-&gt;addPointsFromInputCloud ();</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          input_ = cloud;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          indices_ = indices;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#abfd07d575460088601dae07058f15fb2">  143</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#abfd07d575460088601dae07058f15fb2">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                        std::vector&lt;float&gt; &amp;k_sqr_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;nearestKSearch (cloud, index, k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#a1ae29c694452a6cddc236eaef372653e">  158</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#a1ae29c694452a6cddc236eaef372653e">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                        std::vector&lt;float&gt; &amp;k_sqr_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;nearestKSearch (point, k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#a17572ddb4cdfcadfcd03570d10ac064b">  176</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#a17572ddb4cdfcadfcd03570d10ac064b">nearestKSearch</a> (<span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;nearestKSearch (index, k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#aca7e9f635a0873e19f6f919e9f4a9d36">  191</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#aca7e9f635a0873e19f6f919e9f4a9d36">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                      <span class="keywordtype">int</span> index, </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                      <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                      std::vector&lt;int&gt; &amp;k_indices, </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                      std::vector&lt;float&gt; &amp;k_sqr_distances, </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0)<span class="keyword"> const</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          tree_-&gt;radiusSearch (cloud, index, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            this-&gt;sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#ab340ec949e72d0bd6d972d0bdb230ed6">  213</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#ab340ec949e72d0bd6d972d0bdb230ed6">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q, </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                      <span class="keywordtype">double</span> radius, </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                      std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                      std::vector&lt;float&gt; &amp;k_sqr_distances, </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0)<span class="keyword"> const</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          tree_-&gt;radiusSearch (p_q, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;            this-&gt;sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#a464b3db2b1de5dff0dce4bfa9a792190">  235</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#a464b3db2b1de5dff0dce4bfa9a792190">radiusSearch</a> (<span class="keywordtype">int</span> index, <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;                      std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0)<span class="keyword"> const</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;          tree_-&gt;radiusSearch (index, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            this-&gt;sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (k_indices.size ()));</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#aed3738c14f9b2f230f19af3e03d6a6c2">  253</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#aed3738c14f9b2f230f19af3e03d6a6c2">approxNearestSearch</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, <span class="keywordtype">int</span> query_index, <span class="keywordtype">int</span> &amp;result_index,</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                             <span class="keywordtype">float</span> &amp;sqr_distance)</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        {</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;approxNearestSearch (cloud-&gt;points[query_index], result_index, sqr_distance));</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#a15bf08e5e2ee5c815ce6fa1e76c6c14b">  265</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#a15bf08e5e2ee5c815ce6fa1e76c6c14b">approxNearestSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p_q, <span class="keywordtype">int</span> &amp;result_index, <span class="keywordtype">float</span> &amp;sqr_distance)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;approxNearestSearch (p_q, result_index, sqr_distance));</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_octree.html#a2d18f15c506234a1a54127a21631c913">  278</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_octree.html#a2d18f15c506234a1a54127a21631c913">approxNearestSearch</a> (<span class="keywordtype">int</span> query_index, <span class="keywordtype">int</span> &amp;result_index, <span class="keywordtype">float</span> &amp;sqr_distance)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          <span class="keywordflow">return</span> (tree_-&gt;approxNearestSearch (query_index, result_index, sqr_distance));</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    };</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;}</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/impl/octree_search.hpp&gt;</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_Octree(T) template class PCL_EXPORTS pcl::search::Octree&lt;T&gt;;</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SEARCH_OCTREE_H</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a></div><div class="ttdoc">Octree class</div><div class="ttdef"><b>Definition:</b> octree_base.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_container_empty_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_container_empty.html">pcl::octree::OctreeContainerEmpty</a></div><div class="ttdoc">Octree container class that does not store any information.</div><div class="ttdef"><b>Definition:</b> octree_container.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_container_point_indices_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_container_point_indices.html">pcl::octree::OctreeContainerPointIndices</a></div><div class="ttdoc">Octree container class that does store a vector of point indices.</div><div class="ttdef"><b>Definition:</b> octree_container.h:301</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a></div><div class="ttdoc">search::Octree is a wrapper class which implements nearest neighbor search operations based on the pc...</div><div class="ttdef"><b>Definition:</b> octree.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_a15bf08e5e2ee5c815ce6fa1e76c6c14b"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#a15bf08e5e2ee5c815ce6fa1e76c6c14b">pcl::search::Octree::approxNearestSearch</a></div><div class="ttdeci">void approxNearestSearch(const PointT &amp;p_q, int &amp;result_index, float &amp;sqr_distance)</div><div class="ttdoc">Search for approximate nearest neighbor at the query point.</div><div class="ttdef"><b>Definition:</b> octree.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_a17572ddb4cdfcadfcd03570d10ac064b"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#a17572ddb4cdfcadfcd03570d10ac064b">pcl::search::Octree::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(int index, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</div><div class="ttdoc">Search for the k-nearest neighbors for the given query point (zero-copy).</div><div class="ttdef"><b>Definition:</b> octree.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_a19e4db5d478f4aa22501849202d832ac"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#a19e4db5d478f4aa22501849202d832ac">pcl::search::Octree::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> octree.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_a1ae29c694452a6cddc236eaef372653e"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#a1ae29c694452a6cddc236eaef372653e">pcl::search::Octree::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointT &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</div><div class="ttdoc">Search for the k-nearest neighbors for the given query point.</div><div class="ttdef"><b>Definition:</b> octree.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_a27496a56ce98da017a30fa402d48ff17"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#a27496a56ce98da017a30fa402d48ff17">pcl::search::Octree::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> octree.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_a2d18f15c506234a1a54127a21631c913"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#a2d18f15c506234a1a54127a21631c913">pcl::search::Octree::approxNearestSearch</a></div><div class="ttdeci">void approxNearestSearch(int query_index, int &amp;result_index, float &amp;sqr_distance)</div><div class="ttdoc">Search for approximate nearest neighbor at the query point.</div><div class="ttdef"><b>Definition:</b> octree.h:278</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_a464b3db2b1de5dff0dce4bfa9a792190"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#a464b3db2b1de5dff0dce4bfa9a792190">pcl::search::Octree::radiusSearch</a></div><div class="ttdeci">int radiusSearch(int index, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">search for all neighbors of query point that are within a given radius.</div><div class="ttdef"><b>Definition:</b> octree.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_a7ee64c6ec2beb64972b80d2d4914859a"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#a7ee64c6ec2beb64972b80d2d4914859a">pcl::search::Octree::~Octree</a></div><div class="ttdeci">virtual ~Octree()</div><div class="ttdoc">Empty Destructor.</div><div class="ttdef"><b>Definition:</b> octree.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_a987892ca3624313b206b1f6dc5c9d0df"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#a987892ca3624313b206b1f6dc5c9d0df">pcl::search::Octree::Octree</a></div><div class="ttdeci">Octree(const double resolution)</div><div class="ttdoc">Octree constructor.</div><div class="ttdef"><b>Definition:</b> octree.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_ab340ec949e72d0bd6d972d0bdb230ed6"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#ab340ec949e72d0bd6d972d0bdb230ed6">pcl::search::Octree::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;p_q, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">search for all neighbors of query point that are within a given radius.</div><div class="ttdef"><b>Definition:</b> octree.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_abfd07d575460088601dae07058f15fb2"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#abfd07d575460088601dae07058f15fb2">pcl::search::Octree::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointCloud &amp;cloud, int index, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</div><div class="ttdoc">Search for the k-nearest neighbors for the given query point.</div><div class="ttdef"><b>Definition:</b> octree.h:143</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_aca7e9f635a0873e19f6f919e9f4a9d36"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#aca7e9f635a0873e19f6f919e9f4a9d36">pcl::search::Octree::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointCloud &amp;cloud, int index, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">search for all neighbors of query point that are within a given radius.</div><div class="ttdef"><b>Definition:</b> octree.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html_aed3738c14f9b2f230f19af3e03d6a6c2"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html#aed3738c14f9b2f230f19af3e03d6a6c2">pcl::search::Octree::approxNearestSearch</a></div><div class="ttdeci">void approxNearestSearch(const PointCloudConstPtr &amp;cloud, int query_index, int &amp;result_index, float &amp;sqr_distance)</div><div class="ttdoc">Search for approximate nearest neighbor at the query point.</div><div class="ttdef"><b>Definition:</b> octree.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a></div><div class="ttdoc">Generic search class. All search wrappers must inherit from this.</div><div class="ttdef"><b>Definition:</b> search.h:75</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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